Improved market-based approach to collaborative multi-robot exploration

Abstract

The problem of exploring unknown environments of multi-robot exploration is discussed. Market-based approach is improved and used to update the local maps by data fusion method and compute costs in the condition of connection, while it does not add the extra communication. A new performance metric, target point exchanged ratio(TPER) is proposed, to reflect the degree of collaboration. The simulationd results show that the method is better than original market-based approach, and the proper environments are analyzed.